CN220114794U - ROV underwater sliding slipper mechanism and underwater dredging robot - Google Patents

Abstract

The utility model discloses an ROV underwater sliding slipper mechanism and an underwater dredging robot, which belong to the field of underwater dredging robots. The beneficial effects of the utility model are as follows: the quality replacement bin is arranged between the sliding shoe and the chassis, buoyancy blocks with different densities are filled in the quality replacement bin, so that different buoyancy is provided for the underwater dredging robot underwater, dependence on a propeller in the underwater lifting process of the underwater dredging robot is reduced, good hydrodynamic characteristics are provided for the ROV to slide underwater, the water resistance of the ROV to work underwater is reduced as much as possible, the operation is convenient, and the dredging requirement of the underwater dredging robot on underwater operations of different water bodies is met.

Description

ROV underwater sliding slipper mechanism and underwater dredging robot

Technical Field

The utility model relates to the field of underwater dredging robots, in particular to an ROV underwater sliding slipper mechanism and an underwater dredging robot.

Background

The existing underwater dredging robot running mechanism generally adopts a crawler belt, has a complex structure, cannot realize underwater suspension, water surface running and the like, and can only carry out dredging operation at the water bottom. The utility model patent application with the publication number of CN115627809A discloses an intelligent dredging robot and a dredging system, and the intelligent dredging robot comprises a frame body, a mud sucking mechanism, a driving mechanism, a power source, a monitoring mechanism and a propelling mechanism, wherein the frame body comprises a cover body and a sliding shoe which are arranged up and down, the cover body is fixedly arranged on the upper surface of the sliding shoe and forms a containing space with the sliding shoe, the driving mechanism and the power source are arranged in the containing space, and the mud sucking mechanism and the propelling mechanism are arranged on the frame body. The underwater suspension and water surface walking dredging operation is realized by utilizing the cooperation of the vector propeller and the sliding shoes, so that the dredging robot is updated into three modes of underwater bottom operation, underwater suspension and water surface operation and a mode of three-dimensional space operation during underwater suspension from the traditional underwater bottom operation.

When the underwater dredging robot works underwater, the underwater sliding of the underwater robot can be realized by adopting the design of the sliding shoes, and the resistance of the underwater robot during the underwater sliding is reduced; in order to keep a suspension state in the underwater operation process of the underwater robot, a propulsion mechanism is required to continuously provide upward propulsion force for the underwater robot, so that the energy consumption of the underwater robot is directly increased, and the popularization of the underwater robot with a sliding shoe structure is not facilitated; and because the working environments of different sewage pools and different positions in the same sewage pool are different, particularly the water densities are different, the same underwater robot is directly caused to provide corresponding upward propelling force by the propelling mechanism when treating different sewage pools, and the difficulty of dredging operation is increased.

In view of this, the present inventors have conducted intensive studies in response to this need, and have made the present utility model.

Disclosure of Invention

In order to overcome the problems that an underwater dredging robot adopting a sliding shoe design in the prior art needs a propelling mechanism to continuously provide upward propelling force for the underwater robot in underwater suspension, has high energy consumption and increases operation difficulty due to the fact that the corresponding propelling force is provided by the propelling mechanism according to different water environments, the utility model provides an ROV underwater sliding shoe mechanism, which is used for realizing that an ROV can move underwater in a large depth and a large range.

The quality replacement bin is arranged between the sliding shoe and the chassis, buoyancy blocks with different densities are filled in the quality replacement bin, so that different buoyancy is provided for the underwater dredging robot underwater, dependence on a propeller in the underwater lifting process of the underwater dredging robot is reduced, good hydrodynamic characteristics are provided for the ROV to slide underwater, the water resistance of the ROV to work underwater is reduced as much as possible, the operation is convenient, and the dredging requirement of the underwater dredging robot on underwater operations of different water bodies is met.

Preferably, the mass replacing bin is filled with buoyancy blocks.

Preferably, two sides of the lower surface of the chassis are integrally provided with one sliding shoe, and the middle of each sliding shoe and the chassis is provided with the mass replacing bin.

Preferably, three mass replacing bins are formed between each sliding shoe and the chassis.

Preferably, three mass replacing bins corresponding to each sliding shoe are distributed in the middle of the sliding shoe and the chassis back and forth.

Preferably, the length of the chassis is 800-1200mm, and the width is 500-1000mm; the distance between the lower surface of the sliding shoe and the upper surface of the chassis is 100-150mm.

Preferably, the slipper comprises a slipper main body part and a curled part integrally connected with the front end and the rear end of the slipper main body part and curled upwards, and one end of the curled part, which is far away from the slipper main body part, is integrally connected with the chassis.

Preferably, a plurality of reinforcing plates are integrally mounted on the upper surface of the slipper body and the lower surface of the chassis in the front-rear direction.

Preferably, a plurality of mass replacing bins are formed between the upper surface of the slipper main body part and the lower surface of the chassis through the reinforcing plate.

Here, the setting of quality replacement storehouse can make and reduce a portion resistance in the ROV in-process that rises or descends, has three quality replacement storehouse in the skid shoe both sides, and this design can guarantee to change the weight of mechanism under the unchangeable prerequisite of volume and guarantee to have suitable buoyancy in the flow field of different density, can better control the operation of ROV.

The utility model also provides an underwater dredging robot, which comprises the ROV underwater sliding slipper mechanism.

On the premise of ensuring the unchanged volume, the floating force which floats up and down is changed by changing the mass replacement module of the underwater sliding shoe mechanism, and the design of the underwater sliding shoe mechanism also provides a large space for the expansion of the ROV module.

The beneficial effects are that:

the technical scheme of the utility model has the following beneficial effects:

(1) The quality replacement bin is arranged between the sliding shoe and the chassis, buoyancy blocks with different densities are filled in the quality replacement bin, so that different buoyancy is provided for the underwater dredging robot underwater, dependence on a propeller in the underwater lifting process of the underwater dredging robot is reduced, good hydrodynamic characteristics are provided for the ROV to slide underwater, the water resistance of the ROV to work underwater is reduced as much as possible, the operation is convenient, and the dredging requirement of the underwater dredging robot on underwater operations of different water bodies is met.

(2) In order to offset the gravity effect during underwater suspension operation, a propulsion mechanism is required to continuously provide upward propulsion force for the underwater robot, so that the energy consumption of the underwater robot is directly increased, and the popularization of the underwater robot with the sliding shoe structure is not facilitated; the buoyancy body with the density smaller than that of water is adopted to provide upward buoyancy for the underwater robot, and the buoyancy body is generally used as an upper shell to be arranged at the position above the skid shoes of the underwater robot, but when the underwater robot works close to the water surface, the buoyancy body floats out of the water surface and cannot play a role in providing buoyancy. The mass replacing bin is arranged between the sliding shoe and the chassis, so that when the underwater robot works close to the water surface, the buoyancy block in the mass replacing bin is still below the water surface, and upward buoyancy can be provided for the underwater robot.

(3) In the process of removing the bottommost sludge under the water, the underwater robot is in a state of ground-attached operation generally, the skid shoes can be worn due to long-time friction with the ground under the water, the friction of the flow field and the ground surface on the ROV can be reduced due to the arrangement of the quality replacement bin, and the service life of the ROV is prolonged.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some examples of the present utility model and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a perspective view of a preferred ROV water bottom ski boot mechanism of the present utility model;

FIG. 2 is a perspective view of a second preferred ROV water ski boot mechanism of the present utility model;

FIG. 3 is a perspective view of the underwater dredging robot according to the utility model.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments. Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, based on the embodiments of the utility model, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the utility model.

As shown in fig. 1 and 2, the ROV underwater sliding slipper mechanism 100 is used for realizing the underwater movement of the ROV in a large depth and a large range, and specifically comprises a chassis 1 and a slipper 2 arranged on the lower surface of the chassis 1, wherein a hollowed-out mass replacing bin is formed between the slipper 2 and the chassis 1.

The buoyancy blocks 3 are filled in the mass replacement bin, and the underwater dredging robot can be used for dredging operation of water environments with different densities by filling the buoyancy blocks 3 with different densities in the mass replacement bin.

As a preferred embodiment, two sides of the lower surface of the chassis 1 are integrally provided with one sliding shoe 2, and the mass replacing bin is formed between each sliding shoe 2 and the chassis 1; the shoes 2 here have a certain width, but a width which is smaller than half the width of the chassis, which makes the two shoes at a distance from each other, leaving a space for placing suction pipes or the like.

As a preferred embodiment, three mass replacing chambers are formed between each sliding shoe 2 and the chassis 1.

As a preferred embodiment, three mass replacing bins corresponding to each sliding shoe 2 are distributed in the middle of the sliding shoe 2 and the chassis 1 back and forth.

As a preferred embodiment, the chassis 1 is 800-1200mm long and 500-1000mm wide; the distance between the lower surface of the sliding shoe 2 and the upper surface of the chassis is 100-150mm.

As a preferred embodiment, the shoe 2 includes a shoe body 21 and a curled portion 22 integrally connected to both front and rear ends of the shoe body 21 and curled upward, and one end of the curled portion 22 remote from the shoe body 21 is integrally connected to the chassis 1.

As a preferred embodiment, a plurality of reinforcing plates 23 are integrally installed on the upper surface of the shoe body 21 and the lower surface of the chassis 1 in the front-rear direction. The upper surface of the slipper main body part 21 and the lower surface of the chassis 1 are separated by the reinforcing plate 23 to form a plurality of mass replacing bins.

As a preferred embodiment, a slipper body curled portion 24 is formed between the two curled portions 22 at the front end, and the lengthwise direction of the slipper body curled portion 24 is perpendicular to the lengthwise direction of the slipper 2; the curled portion 24 of the slipper body is integrally connected to the front edge of the chassis 1 near the upper side, and the lower side is fixedly mounted on the lower surface of the chassis 1 through a first mounting plate 25; the two sliding shoes 2 are fixedly arranged on the lower surface of the chassis 1 through a second mounting plate 26 near one side edge in the middle, the first mounting plate 25 and the second mounting plate 26 are vertically arranged, and the first mounting plate 25 and the second mounting plate 26 are both vertical to the plane where the chassis 1 is located.

As shown in fig. 3, the present utility model further provides an underwater dredging robot 10, which comprises the ROV underwater sliding slipper mechanism 100, wherein the ROV underwater sliding slipper mechanism 100 is disposed at the bottom of the underwater dredging robot 10, the top of the underwater dredging robot 10 is provided with a buoyancy cover 200, and the buoyancy cover is fixedly mounted on the ROV underwater sliding slipper mechanism 100.

On the premise of ensuring the unchanged volume, the floating force which floats up and down is changed by changing the mass replacement module of the underwater sliding shoe mechanism, and the design of the underwater sliding shoe mechanism also provides a large space for the expansion of the ROV module. As a preferred embodiment, the chassis 1 is formed with mounting holes 11 for mounting the chassis on other structures of the underwater dredging robot.

The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, and various modifications and variations may be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims (9)

1. The ROV underwater sliding slipper mechanism is characterized by comprising a chassis and a slipper arranged on the lower surface of the chassis, wherein a hollowed-out mass replacement bin is formed between the slipper and the chassis;

and buoyancy blocks are filled in the mass replacement bin.

2. The ROV water bottom sliding slipper mechanism according to claim 1, wherein one slipper is integrally arranged on both sides of the lower surface of the chassis, and the mass replacing bin is formed between each slipper and the chassis.

3. An ROV water bottom ski boot mechanism as claimed in claim 2, wherein three said mass replacement bins are formed intermediate each of the boots and the chassis.

4. A ROV water bottom skid shoe mechanism according to claim 3, wherein three of said mass replacement bins for each said shoe are located fore-aft intermediate said shoe and said chassis.

5. The ROV water bottom ski boot mechanism as in claim 1, wherein the chassis is 800-1200mm long and 500-1000mm wide; the distance between the lower surface of the sliding shoe and the upper surface of the chassis is 100-150mm.

6. The ROV water-bottom sliding slipper mechanism according to claim 1, wherein the slipper comprises a slipper body and a curled portion integrally connected to the front and rear ends of the slipper body and curled upward, and an end of the curled portion remote from the slipper body is integrally connected to the chassis.

7. The ROV water bottom sliding slipper mechanism according to claim 6, wherein the upper surface of the slipper body is integrally provided with a plurality of reinforcing plates in the front-rear direction with the lower surface of the chassis.

8. The ROV water-bottom skid shoe mechanism of claim 7, wherein said upper surface of said shoe body portion is separated from said lower surface of said chassis by said reinforcement plate to form a plurality of said mass replacement bins.

9. An underwater dredging robot comprising an ROV underwater skid shoe mechanism as claimed in any one of claims 1 to 8.